CN109602424A - Cervical vertebra three-dimensional activity degree intelligent measuring apparatus - Google Patents
Cervical vertebra three-dimensional activity degree intelligent measuring apparatus Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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Abstract
A kind of cervical vertebra three-dimensional activity degree intelligent measuring apparatus of the present invention, including instrument body, wireless communication module and terminal, instrument body includes hemispherical headring horizontal loops and headring perpendicular rings and occipitalia protection ring, the both ends of headring horizontal loops and occipitalia protection ring pass through the connection of horizontal scale turnbutton adjusting mechanism respectively to surround a head circumference to match with head size, the both ends of headring perpendicular rings are separately fixed in corresponding horizontal scale turnbutton adjusting mechanism, headring perpendicular rings are equipped with vertical dimension turnbutton adjusting mechanism, the middle position of headring perpendicular rings is fixed with attitude transducer/nine axis gyroscopes, headring horizontal loops bottom middle position is equipped with wing of nose frame, attitude transducer/nine axis gyroscopes are connect by wireless communication module with terminal called；Attitude transducer/nine axis gyroscopes change for monitoring cervical vertebra three-dimensional attitude and export 3 d pose bearing data；Terminal is used to receive 3 d pose bearing data by wireless communication module and be shown by terminal display.
Description
Technical field
The present invention relates to cervical vertebra three-dimensional activity degree field of measuring technique, more particularly to a kind of cervical vertebra three-dimensional activity degree intelligence
Measuring instrument.
Background technique
As the portable electronic pieces such as the increasingly intensification of China human mortality aging degree and smart phone, laptop are set
Standby extensive use, the disease incidence of cervical spondylosis are in obvious ascendant trend.It is uncomfortable, double that cervical vertebra sufferer is mainly shown as that neck and shoulder part is ached
Hand fiber crops are powerless, limb activity is limited, cotton sense etc. is stepped in vola, then cause different degrees of influence to patient work and life.
Cervical vertebrate active degree (Cervical range of motion, CROM) refers to cervical vertebra in sagittal plane, coronal-plane and horizontal plane etc. three
The movement of a dimension plane, including it is anteflexion, extend back, left side is bent, right side is in the wrong, left-handed and 6 freedom degrees of dextrorotation.Due to most of necks
Vertebra patient can cause the pathology of different degrees of cervical vertebrate active degree to sexually revise, thus cervical vertebrate active degree is commonly used for primary dcreening operation neck
The patient of vertebra illness.In cervical vertebra surgical field, the measurement of cervical vertebrate active degree is usually used in the inspection of cervical vertebra progressive mobility
To the auxiliary diagnosis of cervical spondylosis, judge the degree that cervical functional is lost and the assessment to cervical operation therapeutic effect, is evaluation neck
The important indicator of vertebra dynamic moving function.
Currently, the cervical vertebrate active degree measuring tool and method that are used in clinical and experimental study specifically include that simple range estimation,
Machine tool (ruler, protractor, level meter, compass) measurement, Radiological measurement (cervical X-ray, CT), CROM instrument, electromagnetic action
Analyzer, ultrasonic motion analyzer, electric lining method etc..There are shortcomings for existing measuring instrument or method: 1, mechanical to survey
Amount method is complicated, and operating process is cumbersome；2, physical measuring instrument precision is low, and instrument service life is short, easy to wear, data accuracy
Difference；3, Radiological measurement dose of radiation is big, larger to body injury；4, motion analysis instrument subsequent arithmetic process is complicated, and measuring and calculating takes
With higher；5, the anatomical structure and mode of coupling movement of cervical vertebra complexity makes the measurement of different dimensions in a single direction generate one
Determine the dimension error of degree.The cervical vertebrate active degree measuring device of the past makes institute because there are drawbacks described above during practice
Data measured precision is low, poor reliability, and repeatability is not high, can not carry out the comparison of multiple repeated measurement result, it is difficult to true
The real dynamic moving function of effectively reflecting cervical vertebra, while because its user experience is poor, can not testee and subject it is extensive
Ground is received, thus is clinically difficult to be promoted and applied very well.
Summary of the invention
The present invention is in view of the problems of the existing technology and insufficient, provides a kind of cervical vertebra three-dimensional activity degree intelligent measuring apparatus.
The present invention is to solve above-mentioned technical problem by following technical proposals:
The present invention provides a kind of cervical vertebra three-dimensional activity degree intelligent measuring apparatus, it is characterized in that comprising it is instrument body, wireless
Communication module and terminal, the instrument body include headring horizontal loops, headring perpendicular rings and occipitalia protection ring, and the headring is horizontal
Ring and headring perpendicular rings are hemispherical, and the both ends of the headring horizontal loops and occipitalia protection ring are respectively by for big according to head
To surround a head circumference to match with head size, the headring hangs down for the small horizontal scale turnbutton adjusting mechanism connection being adjusted
The both ends of straight ring are separately fixed in corresponding horizontal scale turnbutton adjusting mechanism, are provided in the headring perpendicular rings for adjusting
The vertical dimension turnbutton adjusting mechanism of section header top elasticity, the middle position of the headring perpendicular rings are fixed with posture sensing
Device/nine axis gyroscopes, the bottom middle position of the headring horizontal loops offer wing of nose frame, the attitude transducer/nine axis
Gyroscope is connect by wireless communication module with terminal called.
The attitude transducer/nine axis gyroscopes are for monitoring the variation of cervical vertebra three-dimensional attitude and the three-dimensional appearance of output in real time
State bearing data, the 3 d pose bearing data include roll angle, pitch angle and yaw angle.
The terminal is used to pass through wireless communication module real-time reception 3 d pose bearing data and the display by terminal
Device is shown.
Preferably, the terminal is used to received 3 d pose bearing data classification being classified as X-axis roll angle α, Y-axis pitching
Angle beta and Z axis yaw angle γ.
Based on X-axis roll angle α, the terminal is defined as α for judging whether α >=0 if α >=01, defined if α < 0
For α2, take the α continuously measured1In maximum value, export as " left side bend " final measurement angle, take the α continuously measured2In
Minimum value absolute value, export as " right side bend " final measurement angle.
Based on Y-axis pitch angle β, the terminal is defined as β for judging whether β >=0 if β >=01, defined if β < 0
For β2, take the β continuously measured1In maximum value, export as " anteflexion " final measurement angle, take the β continuously measured2In
The absolute value of minimum value exports as " extending back " final measurement angle.
Based on Z axis pitch angle γ, the terminal is defined as γ for judging whether γ >=0 if γ >=01If γ < 0
Then it is defined as γ2, take the γ continuously measured1In maximum value, export as " left-handed " final measurement angle, take and continuously measure
γ2In minimum value absolute value, export as " dextrorotation " final measurement angle.
Preferably, the outer surface of the headring horizontal loops is fixed with photoscope, the headring horizontal loops correspond to the eyes of people
Position at use transparent material.
Preferably, the liner of the occipitalia protection ring is memory sponge.
Preferably, the attitude transducer/nine axis gyroscopes use Senodia gyroscope, Alubi posture sensing gyroscope instrument
Or Wit intelligence gyroscope.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
1, the design makes three dimensions separated originally, six by using newest attitude transducer/nine axis gyroscopes
Mobility data monitoring synchronous presentation simultaneously on direction, reduces human error caused by due to gradation measurement, reading.
2, the design uses advanced attitude transducer/nine axis gyro sensors modules on the market, has small in size, matter
Amount is light, measures the advantages that convenient and efficient, and farthest reducing influences cervical vertebra because of measuring instrument heaviness in measurement process
It move freely.
3, the design sensor measurement process is simple and direct efficiently, data redundancy is good, without artificial excessively correction gauger's head
Portion's neutral position greatly facilitates the application of subject and tester, provides more intelligent user experience, answers convenient for clinical expansion
With.
4, attitude transducer used by the design/nine axis gyro sensors radiationless, safety in measurement whole process
Height, highly reliable, patient's duplicate measurements compliance is good, can be widely applied to the bases such as ward assessment, follow-up and biomethanics
Plinth research.
5, there is the design realtime curve, dynamic data analysis processing, accurate result to synchronize and be in measurement process
The functions such as existing, data automatic Memory.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the cervical vertebra three-dimensional activity degree intelligent measuring apparatus of present pre-ferred embodiments.
Fig. 2 is the cervical vertebra three-dimensional activity degree intelligent measuring apparatus actual measurement application schematic diagram of present pre-ferred embodiments.
Fig. 3 is that the cervical vertebra three-dimensional activity degree intelligent measuring apparatus terminal display of present pre-ferred embodiments exports schematic diagram.
Fig. 4 is the cervical vertebra three-dimensional activity degree intelligent measuring apparatus work flow diagram of present pre-ferred embodiments.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of cervical vertebra three-dimensional activity degree intelligent measuring apparatus comprising instrument body, nothing
Line communication module and terminal, the instrument body include headring horizontal loops 1, headring perpendicular rings 2 and occipitalia protection ring 3, the head
Ring horizontal loops 1 and headring perpendicular rings 2 are hemispherical, and the both ends of the headring horizontal loops 1 and occipitalia protection ring 3 pass through respectively to be used for
The connection of horizontal scale turnbutton adjusting mechanism 4 being adjusted according to head size is to surround a head to match with head size
It encloses, the both ends of the headring perpendicular rings 2 are separately fixed in corresponding horizontal scale turnbutton adjusting mechanism 4, and the headring is vertical
The vertical dimension turnbutton adjusting mechanism 5 for adjusting crown elasticity, the interposition of the headring perpendicular rings 2 are provided on ring 2
The place of setting is fixed with attitude transducer/nine axis gyroscopes 6, and the bottom middle position of the headring horizontal loops 1 offers wing of nose frame
7, the outer surface of the headring horizontal loops 1 is fixed with photoscope 8, adopts at the position of the eyes of the corresponding people of the headring horizontal loops 1
Use transparent material.The attitude transducer/nine axis gyroscopes 6 are connect by wireless communication module with terminal called.
The attitude transducer/nine axis gyroscopes 6 change for monitoring cervical vertebra three-dimensional attitude and export 3 d pose
Bearing data；The terminal is used to receive 3 d pose bearing data by wireless communication module and be shown by the display of terminal
Show.
Headring horizontal loops 1 and headring perpendicular rings 2 are respectively equipped with horizontal scale turnbutton adjusting mechanism 4 and vertical dimension knob tune
Mechanism 5 is saved, head volume size can be adjusted in different direction to adapt to the wearing of different size of individual head circumference.Horizontal scale rotation
It is existing that how button regulating mechanism 4 and vertical dimension turnbutton adjusting mechanism 5, which adjust headring horizontal loops 1 and the size of headring perpendicular rings 2,
There is technology.
Wing of nose frame 7 cooperates the big minor adjustment of headring horizontal loops 1 and headring perpendicular rings 2, makes whole according to ergonomic designs
A headring is fitted closely with subject's head, and gyro sensor is made to keep the fixation of relative position in entire test process.
3 liner of occipitalia protection ring is memory sponge, is convenient for subject's comfortable wearing headring, gives the optimal user's body of subject
It tests.
One attitude transducer/nine axis gyroscopes are installed, attitude transducer is based on MEMS at the top of headring perpendicular rings 2
The high performance three-dimensional motion attitude measuring system of (Microelectro Mechanical Systems) technology, core sensing
Device is the nine axis gyroscopes for integrating three-axis gyroscope, three axis accelerometer and three axle magnetometer.Gyroscope is used to measure
Respective corners angle value can be obtained to time integral by angular speed in the angular speed of inertial space in the carrier.In order to reduce because of temperature
Drift error is measured caused by degree variation, frictional force, the factors such as destabilizing moment, the dynamic in conjunction with measured by accelerometer and quiet
State linear acceleration, based on the special datas integration technology such as Kalman filtering, particle filter, complementary filter, with Euler's horn cupping,
The common fusion Attitude Algorithm such as direction cosine method and Quaternion Method, in real time export zero shift 3 d pose bearing data (roll angle,
Pitch angle and yaw angle).The Combined design of magnetometer is the error correction to yaw angle and gravity direction quadrature error.Therefore,
It is core that nine axis gyroscopes are based on used by the design, compound in cervical vertebra multidimensional in conjunction with filtering technique and attitude algorithm algorithm
The lower real-time angular delta data for precisely, efficiently and conveniently obtaining three dimension six directions of movement.Attitude transducer/nine axis
Gyroscope be connected by wireless blue tooth mechanics of communication with terminal display, it can be achieved that precisely terminal control sum number factually when adopt
Collection.The smart machines such as wireless notebook, plate and smart phone can be selected in terminal display.
The present invention is based on nine axis gyroscope monitoring principles and the basic computations of attitude data, design data processing, divide
The operation control system of analysis, output.It can realize that measurement process accurately controls sum number factually by personal smart phone or computer
When acquire.In the present invention, nine axis gyro sensors utilize conservation of angular momentum principle, intelligent and high-efficiency to cervical vertebra 3 D stereo
The real-time measurement of spatial variations data, and by Kalman Filter Technology, attitude algorithm and further comprehensive analysis processing, simultaneously
Export the pitch angle (coronal-plane), roll angle (sagittal plane) and course angle (horizontal plane) of three dimensions.Cervical vertebra three-dimensional activity degree intelligence
Being capable of measuring instrument during cervical vertebra dynamic moving while can carry out three dimensions, the real-time measurement of six groups of data, and data, which synchronize, is in
Now in terminal display, measurement accuracy is high, and error is small, and efficiency is good, and repeatability is high.The clinic that can be widely applied to cervical spondylosis is commented
Estimate and related basic research.
Attitude transducer common on the market/nine axis gyro sensors modules can be used in sensor, such as: Senodia top
Spiral shell instrument, Alubi posture sensing gyroscope instrument, Wit intelligence gyroscope etc..
As shown in Fig. 2, this cervical vertebra three-dimensional activity degree measuring instrument process for using is as follows: subject is seated on chair, leans against chair
Back can use the suitably fixed subject's body of bandage.Measuring instrument is placed in subject's head, adjusts horizontal scale turnbutton adjusting mechanism
4 and vertical dimension turnbutton adjusting mechanism 5, so that headring is sized for subject wears.
Test starts, and opens attitude transducer/nine axis gyroscopes, 6 upper switch, connects terminal by wireless communication module.It advises
Subject, which comes back, accepts jaw head-up front, and tester presses " start button " in controlling terminal, and terminal is established relatively neutral automatically
Position (the final measurement data of real-time angular variation/six direction of three dimensions is reset).Measurement starts, tester's oral account or same
Step action guide subject take turns doing bow, face upward head, left side is bent, right side is bent, the head of anticlockwise and right rotation six direction just
Often movement (activity is to the limit).The variation of terminal display real-time display head virtual spatial location and three-dimensional perspective variation.
It after entire head movement, presses " end key ", the final measurement data of six direction finally determines, system is automatic simultaneously to be remembered
Record measurement result.When unified subject measures again, " Reset key " is pressed, opposite neutral position is established again, and data are immediately clear
Zero, measurement restarts.After test, key (forward, backward) is reviewed by data and carries out data review and result extraction.
As shown in figure 3, left side interface: data display interface, the angle change of arc frame three dimensions of real-time display；It is rectangular
Frame shows the final measurement data of three dimension six directions.Five keys are respectively as follows: start button, Reset below display interface
Key (zeros data/opposite neutral position is arranged), data review key (forward), data review key (backward), end key.
Right side interface: virtual three-dimensional space display interface, the variation of real-time display sensor virtual relative tertiary location.
As shown in figure 4, data are analyzed, handled, output process is as follows: test starts, attitude transducer/nine axis gyroscopes
The variation of cervical vertebra three-dimensional attitude is monitored, by Data fusion technique and attitude algorithm algorithm, exports 3 d pose orientation in real time
Data (roll angle, pitch angle and yaw angle).Terminal passes through the data that wireless blue tooth transmission technology real-time reception is monitored, classification
It is classified as roll angle α (X-axis), pitch angle β (Y-axis) and yaw angle γ (Z axis).By taking X-axis roll angle α as an example, α >=0 is judged? if α >=0
Then it is defined as α1, α is defined as if α < 02, take the α continuously measured1In maximum value, export as " left side bend " final measurement
Angle；Take the α continuously measured2In minimum value absolute value, export as " right side bend " final measurement angle.Such as Fig. 4, together
Does reason, the measurement analysis processing of Y-axis pitch angle β, judge β >=0? β is defined as if β >=01, β is defined as if β < 02, take continuous
The β measured1In maximum value, export as " anteflexion " final measurement angle；Take the β continuously measured2In minimum value it is absolute
Value, exports as " extending back " final measurement angle.Similar, does the measurement analysis processing of Z axis pitch angle γ judge γ >=0? if γ >=
0 is defined as γ1, γ is defined as if γ < 02, take the γ continuously measured1In maximum value, export for " left-handed " finally survey
Measuring angle；Take the γ continuously measured2In minimum value absolute value, export as " dextrorotation " final measurement angle.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (5)
1. a kind of cervical vertebra three-dimensional activity degree intelligent measuring apparatus, which is characterized in that it includes instrument body, wireless communication module and end
End, the instrument body includes headring horizontal loops, headring perpendicular rings and occipitalia protection ring, and the headring horizontal loops and headring are vertical
Ring is hemispherical, and the both ends of the headring horizontal loops and occipitalia protection ring according to head size respectively by for being adjusted
The connection of horizontal scale turnbutton adjusting mechanism is to surround a head circumference to match with head size, the both ends point of the headring perpendicular rings
It is not fixed in corresponding horizontal scale turnbutton adjusting mechanism, is provided in the headring perpendicular rings for adjusting crown elasticity
Vertical dimension turnbutton adjusting mechanism, the middle position of the headring perpendicular rings is fixed with attitude transducer/nine axis gyroscopes,
The bottom middle position of the headring horizontal loops offers wing of nose frame, and the attitude transducer/nine axis gyroscopes pass through wireless
Communication module is connect with terminal called；
The attitude transducer/nine axis gyroscopes are for monitoring the variation of cervical vertebra three-dimensional attitude and in real time output 3 d pose side
Position data, the 3 d pose bearing data includes roll angle, pitch angle and yaw angle；
The terminal is used for by wireless communication module real-time reception 3 d pose bearing data and aobvious by the display of terminal
Show.
2. cervical vertebra three-dimensional activity degree intelligent measuring apparatus as described in claim 1, which is characterized in that the terminal will be for that will receive
3 d pose bearing data classification be classified as X-axis roll angle α, Y-axis pitch angle β and Z axis yaw angle γ；
Based on X-axis roll angle α, the terminal is defined as α for judging whether α >=0 if α >=01, α is defined as if α < 02,
Take the α continuously measured1In maximum value, export as " left side bend " final measurement angle, take the α continuously measured2In minimum
The absolute value of value exports as " bending on right side " final measurement angle；
Based on Y-axis pitch angle β, the terminal is defined as β for judging whether β >=0 if β >=01, β is defined as if β < 02,
Take the β continuously measured1In maximum value, export as " anteflexion " final measurement angle, take the β continuously measured2In minimum value
Absolute value, export as " extending back " final measurement angle；
Based on Z axis pitch angle γ, the terminal is defined as γ for judging whether γ >=0 if γ >=01, defined if γ < 0
For γ2, take the γ continuously measured1In maximum value, export as " left-handed " final measurement angle, take the γ continuously measured2In
Minimum value absolute value, export as " dextrorotation " final measurement angle.
3. cervical vertebra three-dimensional activity degree intelligent measuring apparatus as described in claim 1, which is characterized in that outside the headring horizontal loops
Surface is fixed with photoscope, uses transparent material at the position for the eyes that the headring horizontal loops correspond to people.
4. cervical vertebra three-dimensional activity degree intelligent measuring apparatus as described in claim 1, which is characterized in that the occipitalia protection ring it is interior
Lining is memory sponge.
5. cervical vertebra three-dimensional activity degree intelligent measuring apparatus as described in claim 1, which is characterized in that attitude transducer/nine
Axis gyroscope uses Senodia gyroscope, Alubi posture sensing gyroscope instrument or Wit intelligence gyroscope.
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| CN201811197061.6A CN109602424A (en) | 2018-10-15 | 2018-10-15 | Cervical vertebra three-dimensional activity degree intelligent measuring apparatus |
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| CN201811197061.6A CN109602424A (en) | 2018-10-15 | 2018-10-15 | Cervical vertebra three-dimensional activity degree intelligent measuring apparatus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111789738A (en) * | 2020-06-30 | 2020-10-20 | 四川大学华西医院 | Cervical vertebra detection seat and cervical vertebra degeneration standardized physical examination auxiliary device |
| CN114081474A (en) * | 2021-10-09 | 2022-02-25 | 上海长征医院 | Spine dynamic mobility intelligent measurement system and measurement method thereof |
| CN114111777A (en) * | 2021-11-24 | 2022-03-01 | 中国矿业大学(北京) | Underground personnel state sensing system based on head posture monitoring |
| CN115919292A (en) * | 2022-12-09 | 2023-04-07 | 泰州市人民医院 | Cervical vertebra proprioception evaluation equipment and method |
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